/PROG  TL1_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 1448;
CREATE		= DATE 12-04-10  TIME 21:50:32;
MODIFIED	= DATE 12-10-25  TIME 01:26:36;
FILE_NAME	= TL2_DROP;
VERSION		= 0;
LINE_COUNT	= 29;
MEMORY_SIZE	= 1836;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  LBL[10] ;
   2:  UFRAME_NUM=0 ;
   3:  UTOOL_NUM=1 ;
   4:  WAIT DI[25]=OFF    ;
   5:   ;
   6:J P[1:CLEAR] 50% CNT50    ;
   7:J P[2:CLEAR] 50% CNT50    ;
   8:J P[3:CLEAR] 50% CNT50    ;
   9:J P[4:CLEAR] 50% CNT50    ;
  10:J P[5:CLEAR] 50% CNT50    ;
  11:J P[6:APPROACH] 30% CNT50    ;
  12:L P[7:APPROACH] 1000mm/sec CNT50    ;
  13:L P[8:APPROACH] 300mm/sec CNT50    ;
  14:L P[9:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=ON    ;
  15:  DO[13]=OFF ;
  16:  DO[14]=ON ;
  17:  WAIT DI[14]=ON    ;
  18:  WAIT   1.00(sec) ;
  19:L P[10:APPROACH] 300mm/sec FINE DB    0.0mm,DO[20]=OFF    ;
  20:  WAIT DI[25]=ON    ;
  21:L P[11:APPROACH] 300mm/sec CNT50    ;
  22:L P[12:APPROACH] 300mm/sec CNT50    ;
  23:J P[6:APPROACH] 30% CNT50    ;
  24:J P[5:CLEAR] 30% CNT50    ;
  25:J P[4:CLEAR] 50% CNT50    ;
  26:J P[3:CLEAR] 50% CNT50    ;
  27:J P[2:CLEAR] 50% CNT50    ;
  28:J P[1:CLEAR] 50% CNT50    ;
  29:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    44.011 deg,	J2=   -87.080 deg,	J3=    90.000 deg,
	J4=     8.668 deg,	J5=   -86.410 deg,	J6=  -102.928 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    79.571 deg,	J2=   -81.938 deg,	J3=    89.820 deg,
	J4=    89.989 deg,	J5=   -75.422 deg,	J6=   -94.260 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  -325.007  mm,	Y =  2707.689  mm,	Z =  2280.758  mm,
	W =   -90.785 deg,	P =   -85.911 deg,	R =   -56.116 deg
};
P[4:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   168.853 deg,	J2=   -82.496 deg,	J3=    75.427 deg,
	J4=    92.163 deg,	J5=   -75.580 deg,	J6=  -111.661 deg
};
P[5:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   191.910 deg,	J2=   -71.372 deg,	J3=    76.975 deg,
	J4=    -1.629 deg,	J5=   -77.422 deg,	J6=  -101.295 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   159.391 deg,	J2=   -59.445 deg,	J3=    86.290 deg,
	J4=   -88.509 deg,	J5=  -111.319 deg,	J6=   -85.758 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   164.265 deg,	J2=   -36.311 deg,	J3=    52.633 deg,
	J4=   -79.781 deg,	J5=  -103.017 deg,	J6=   -51.215 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   167.686 deg,	J2=   -38.893 deg,	J3=    51.214 deg,
	J4=   -81.801 deg,	J5=  -100.201 deg,	J6=   -50.054 deg
};
P[9:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2974.368  mm,	Y =   101.567  mm,	Z = -1625.500  mm,
	W =   -78.600 deg,	P =    89.554 deg,	R =  -167.854 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   166.578 deg,	J2=   -35.931 deg,	J3=    50.009 deg,
	J4=   -80.852 deg,	J5=  -100.866 deg,	J6=   -48.711 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   164.744 deg,	J2=   -34.564 deg,	J3=    50.958 deg,
	J4=   -79.872 deg,	J5=  -102.463 deg,	J6=   -49.552 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   162.091 deg,	J2=   -52.306 deg,	J3=    82.954 deg,
	J4=   -87.762 deg,	J5=  -108.531 deg,	J6=   -82.234 deg
};
/END
